% sets up physical characteristics of the robot

% robot information
robot.mass = 66; % robot mass, kg
robot.I = [1 0 0; 0 1 0; 0 0 5]; % total mass moment of inertia. TODO: random number 
robot.cm = [0 0 0]; % vector from the geometric center to the cm, m
robot.wheelR = 0.0762; % robot wheel radius, m (3 in)

% location of each module. Adding/Subtracting modules is OK.
robot.module(1).loc = [0; 0.4; 0];
robot.module(2).loc = [0; -0.4; 0];
robot.modules = length(robot.module); % calculate number of modules

% drive motor characteristics % TODO get real values! (for a CIM)
robot.drive.L = 230e-6;				% armature inductance, H (from CD)
robot.drive.kT = 18.2e-3;			% torque constant, N.m/A
robot.drive.kEMF = (12*60)/(5310*2*pi);		% back-emf constant, V.s/rad
robot.drive.R = robot.drive.kT * 12 / 2.42;	% armature resistance, ohm
robot.drive.eta = 0.8;				% motor/gearbox (force) efficiency factor

% turn motor characteristics % TODO get real values!
robot.turn.R = 5;  
robot.turn.L = 1;
robot.turn.kT = 0.01;
robot.turn.kEMF = 0.01;
robot.turn.eta = 0.8;

% TODO: two-speed setup?
